Vehicle control method and device and computer equipment

Abstract

The invention relates to a vehicle control method and device and computer equipment. The method comprises the following steps: acquiring running state information of a vehicle; determining relative speed information of the vehicle according to the running state information; the relative speed information is speed information of a rear axle relative to a front axle of the vehicle; determining a torque control mode of the vehicle according to the relative speed information; and controlling the running state of the vehicle according to the torque control mode. By adopting the method, the torque can be reduced when the vehicle tends to lock the wheels, the wheels are prevented from being locked, and the driving safety is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle control method, device and computer equipment. Background Art

[0002] New energy electric drive axle power vehicles have the advantages of compact structure, short transmission chain and high transmission efficiency. They are becoming more and more popular in the field of new energy commercial vehicles. Braking energy recovery, as a unique technology of new energy vehicles, can use motor feedback torque to recover energy during vehicle deceleration and braking, which is one of the effective means to improve vehicle endurance.

[0003] However, after the brake pedal is pressed, the motor braking torque and the brake disc mechanical braking force act on the wheel end at the same time, which can easily cause the wheel to lock and affect driving safety. Summary of the invention

[0004] Based on this, it is necessary to provide a vehicle control method, device and computer equipment that can improve driving safety in response to the above technical problems.

[0005] In a first aspect, the present application provides a vehicle control method, the method comprising:

[0006] Obtain vehicle operating status information;

[0007] Determine the relative speed information of the vehicle according to the running state information; the relative speed information is the speed information of the rear axle of the vehicle relative to the front axle;

[0008] determining a torque control mode of the vehicle according to the relative speed information;

[0009] The operating state of the vehicle is controlled according to the torque control mode.

[0010] In one embodiment, determining the torque control mode of the vehicle according to the relative speed information includes:

[0011] When the relative speed information is greater than or equal to a preset relative speed threshold, determining that the torque control mode of the vehicle is an anti-lock torque limiting mode;

[0012] When the relative speed information is less than a preset relative speed threshold, it is determined that the torque control mode of the vehicle is a non-anti-lock torque limiting mode.

[0013] In one embodiment, the anti-lock torque limiting mode includes a first anti-lock torque limiting mode and a second anti-lock torque limiting mode; when the relative speed information is greater than or equal to a preset relative speed threshold, determining that the torque control mode of the vehicle is the anti-lock torque limiting mode includes:

[0014] Determining vehicle speed information of the vehicle according to the operating status information;

[0015] When the vehicle speed information is greater than or equal to a preset vehicle speed threshold, and the relative speed information is greater than or equal to a preset relative speed threshold, determining that the torque control mode of the vehicle is the first anti-lock torque limiting mode;

[0016] When the vehicle speed information is less than a preset vehicle speed threshold and the relative speed information is greater than or equal to a preset relative speed threshold, the torque control mode of the vehicle is determined to be the second anti-lock torque limiting mode; wherein a response time of the second anti-lock torque limiting mode is greater than a response time of the first anti-lock torque limiting mode.

[0017] In one embodiment, the running state information includes right front wheel speed information, left front wheel speed information, right rear wheel speed information and left rear wheel speed information; and determining the relative speed information of the vehicle according to the running state information includes:

[0018] Determine front axle speed information according to the right front wheel speed information and the left front wheel speed information;

[0019] Determine first speed information of the right rear wheel of the vehicle relative to the front axle according to the front axle speed information and the right rear wheel speed information;

[0020] Determine second speed information of the left rear wheel of the vehicle relative to the front axle according to the front axle speed information and the left rear wheel speed information;

[0021] The relative speed information is determined according to the first speed information and the second speed information.

[0022] In one embodiment, determining the relative speed information according to the first speed information and the second speed information comprises:

[0023] When at least one of the first speed information and the second speed information is greater than a preset first speed threshold, determining that the relative speed information is a preset relative speed;

[0024] When the first speed information and the second speed information are both less than or equal to the preset relative speed threshold, the relative speed information is determined to be an average of an absolute value of the first speed information and an absolute value of the second speed information.

[0025] In one embodiment, controlling the running state of the vehicle according to the torque control mode includes:

[0026] Determining a required motor feedback torque of the vehicle according to the operating state information;

[0027] determining a torque limit coefficient according to the relative speed information;

[0028] Determining a target motor feedback torque of the vehicle according to the required motor feedback torque and the torque limit coefficient;

[0029] The running state of the vehicle is controlled according to the torque control mode and the target motor feedback torque.

[0030] In one embodiment, determining the torque limit coefficient according to the relative speed information includes:

[0031] When the relative speed information is less than or equal to a relative speed threshold, determining the torque limit coefficient to be 1;

[0032] When the relative speed information is greater than a relative speed threshold, the torque limit coefficient is determined according to the relative speed information and a preset association relationship; wherein the torque limit coefficient is less than 1, and the torque limit coefficient is negatively correlated with the relative speed information.

[0033] In one embodiment, the operating state information further includes a brake pedal opening; and determining the required motor feedback torque of the vehicle according to the operating state information includes:

[0034] determining a torque percentage according to the brake pedal opening;

[0035] Determine the required peak torque according to the preset vehicle motor model;

[0036] The required motor feedback torque is determined according to the required peak torque and the torque percentage.

[0037] In a second aspect, the present application further provides a vehicle control device, the device comprising:

[0038] A first acquisition module is used to acquire the running status information of the vehicle;

[0039] A first determining module is used to determine the relative speed information of the vehicle according to the running state information; the relative speed information is the speed information of the rear axle of the vehicle relative to the front axle;

[0040] A second determination module, configured to determine a torque control mode of the vehicle according to the relative speed information;

[0041] The first execution module is used to control the running state of the vehicle according to the torque control mode.

[0042] In a third aspect, the present application further provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the vehicle control method in any one of the above embodiments when executing the computer program.

[0043] The above-mentioned vehicle control method, device and computer equipment first obtain the vehicle's operating status information, and determine the relative speed information of the rear axle of the vehicle with respect to the front axle in real time based on the operating status information, so as to judge whether the vehicle has a tendency of wheel locking and the degree of wheel locking tendency based on the relative speed information of the rear axle and the front axle of the vehicle, and then control the vehicle's torque control mode accordingly based on the wheel locking tendency and the degree of wheel locking tendency, so as to appropriately reduce the torque output by the motor according to the degree of wheel locking tendency when the vehicle has a tendency of wheel locking, and control the vehicle's operating status according to the torque control mode to avoid wheel locking and improve driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 A schematic flow chart of a vehicle control method in one embodiment;

[0046] Figure 2 is a flow chart of step S103 in one embodiment;

[0047] Figure 3 is a flow chart of step S201 in one embodiment;

[0048] Figure 4 is a flow chart of step S102 in one embodiment;

[0049] Figure 5 is a flow chart of step S404 in one embodiment;

[0050] Figure 6 is a flow chart of step S104 in one embodiment;

[0051] Figure 7 is a flow chart of step S602 in one embodiment;

[0052] Figure 8 is a flow chart of step S601 in one embodiment;

[0053] Fig. 9 is a structural block diagram of a vehicle control device in one embodiment;

[0054] Fig.10 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0056] As mentioned in the background technology section, new energy electric drive axle power models have the advantages of compact structure, short transmission chain and high transmission efficiency, and are becoming more and more popular in the field of new energy commercial vehicles. Braking energy recovery is a unique technology of new energy vehicles. It can use the motor feedback torque to recover energy during the vehicle deceleration and braking process, which is one of the effective means to improve vehicle endurance. At present, when braking, a large number of models still use parallel form for their electric braking force and mechanical braking force, that is, after the brake pedal is pressed, the motor braking torque and the brake disc mechanical braking force act on the wheel end at the same time, which can easily cause the wheel to lock and affect driving safety.

[0057] Based on the above technical problems, in an exemplary embodiment, please refer to Figure 1 The present application provides a vehicle control method, which is described below by taking the method applied to a vehicle controller as an example. The vehicle control method includes steps S101 to S104.

[0058] S101: Acquire vehicle operation status information.

[0059] In the application, the operating status information may include the speed information of each wheel of the vehicle. The vehicle is equipped with ABS (Anti-Lock Brake System), which can detect the speed information of each wheel of the vehicle in real time during the operation of the vehicle and send it to the vehicle controller.

[0060] S102: Determine relative speed information of the vehicle according to the running status information.

[0061] It can be understood that after obtaining the speed information of each wheel of the vehicle, the controller can calculate the relative speed information of the rear axle of the vehicle with respect to the front axle, and then the controller can determine whether the vehicle has a tendency to lock the wheels based on the relative speed information.

[0062] S103: Determine a torque control mode of the vehicle according to the relative speed information.

[0063] Among them, the torque control mode is used to indicate whether the control motor outputs torque according to the torque required by the vehicle. If the controller determines that the vehicle has a tendency to lock the wheels based on the relative speed information, it is necessary to control the torque output by the motor to be reduced. If the controller determines that the vehicle has no tendency to lock the wheels based on the relative speed information, the motor can be controlled to output torque normally.

[0064] S104: Control the running state of the vehicle according to the torque control mode.

[0065] After the torque control mode is determined, the running state of the vehicle can be controlled accordingly according to the torque control mode, that is, the magnitude of the torque output by the motor can be controlled to prevent the wheels from locking.

[0066] The above-mentioned vehicle control method first obtains the running status information of the vehicle, and determines the relative speed information of the rear axle of the vehicle with respect to the front axle in real time according to the running status information, so as to judge whether the vehicle has a tendency of wheel locking and the degree of wheel locking tendency according to the relative speed information of the rear axle and the front axle of the vehicle, and then controls the torque control mode of the vehicle accordingly according to the tendency of wheel locking and the degree of wheel locking tendency, so as to appropriately reduce the torque output by the motor according to the degree of wheel locking tendency when the vehicle has a tendency of wheel locking, and control the running status of the vehicle according to the torque control mode, avoid wheel locking, and improve driving safety.

[0067] In an exemplary embodiment, see Figure 2 , step S103, determining the torque control mode of the vehicle according to the relative speed information, including step S201 and step S202.

[0068] S201: When the relative speed information is greater than or equal to a preset relative speed threshold, determining that the torque control mode of the vehicle is an anti-lock torque limiting mode.

[0069] In this embodiment, a relative speed threshold can be set for the relative speed information of the rear axle of the vehicle with respect to the front axle. If the relative speed information is greater than or equal to the relative speed threshold, it indicates that the vehicle has a tendency to lock the wheels, and it is necessary to control the torque output by the motor to be reduced, that is, control the torque control mode of the vehicle to the anti-lock torque limiting mode.

[0070] S202: When the relative speed information is less than a preset relative speed threshold, determining that the torque control mode of the vehicle is a non-anti-lock torque limiting mode.

[0071] It can be understood that if the relative speed information is less than the relative speed threshold, it means that the vehicle has no tendency to wheel lock, and there is no need to control the torque output by the motor to reduce, that is, the torque control mode of the vehicle is controlled to be a non-anti-lock torque limiting mode.

[0072] In an exemplary embodiment, the anti-lock torque limiting mode includes a first anti-lock torque limiting mode and a second anti-lock torque limiting mode; see Figure 3 , step S201, when the relative speed information is greater than or equal to a preset relative speed threshold, determining that the torque control mode of the vehicle is an anti-lock torque limiting mode, including steps S301 to S303.

[0073] S301: Determine vehicle speed information according to the operating status information.

[0074] The vehicle's operating status information also includes the vehicle's speed information, that is, the vehicle's entire speed.

[0075] S302: When the vehicle speed information is greater than or equal to a preset vehicle speed threshold, and the relative speed information is greater than or equal to a preset relative speed threshold, determining that the torque control mode of the vehicle is a first anti-lock torque limiting mode.

[0076] If the vehicle speed information is greater than or equal to the preset vehicle speed threshold, and the relative speed information is greater than or equal to the preset relative speed threshold, the vehicle can be controlled to enter the first anti-lock torque limiting mode, that is, the vehicle is controlled to enter the anti-lock state immediately.

[0077] S303: When the vehicle speed information is less than a preset vehicle speed threshold and the relative speed information is greater than or equal to the preset relative speed threshold, determining that the torque control mode of the vehicle is the second anti-lock torque limiting mode.

[0078] If the vehicle speed information is less than the preset vehicle speed threshold, and the relative speed information is greater than or equal to the preset relative speed threshold, the vehicle can be controlled to enter the second anti-lock torque limiting mode, that is, the vehicle is controlled to delay for a period of time before entering the anti-lock state. The delay period is the response time, and the response time of the second anti-lock torque limiting mode is greater than the response time of the first anti-lock torque limiting mode. In one example, the response time of the second anti-lock torque limiting mode can be a fixed value. In another example, the response time of the second anti-lock torque limiting mode is inversely correlated with the vehicle speed information, that is, the lower the vehicle speed, the longer the response time of the second anti-lock torque limiting mode.

[0079] In an exemplary embodiment, see Figure 4 , step S102, determining the relative speed information of the vehicle according to the running status information, including steps S401 to S404.

[0080] S401: Determine front axle speed information according to right front wheel speed information and left front wheel speed information.

[0081] The running status information includes right front wheel speed information v1, left front wheel speed information v2, right rear wheel speed information v3 and left rear wheel speed information v4. The front axle speed information v` of the vehicle can be obtained by averaging the right front wheel speed information v1 and the left front wheel speed information v2, where v`=(v1+v2) / 2.

[0082] S402: Determine first speed information of the right rear wheel of the vehicle relative to the front axle according to the front axle speed information and the right rear wheel speed information.

[0083] The first speed information of the right rear wheel of the vehicle relative to the front axle refers to the speed of the right rear wheel of the vehicle relative to the front axle of the vehicle. For objects moving in the same direction, the relative speed is equal to the absolute value of the difference between the speeds of the two objects; for objects moving in opposite directions, the relative speed is equal to the absolute value of the sum of the speeds of the two objects. In this embodiment, the right rear wheel of the vehicle and the front axle of the vehicle move in the same direction. Therefore, the first speed information of the right rear wheel of the vehicle relative to the front axle is the absolute value of the difference between the front axle speed information and the right rear wheel speed information, that is, the absolute value of the difference between the front axle speed information and the right rear wheel speed information is used to calculate the first speed information V RaRightWheel =|v`-v3|.

[0084] S403: Determine second speed information of the left rear wheel of the vehicle relative to the front axle according to the front axle speed information and the left rear wheel speed information.

[0085] Similarly, the second speed information of the left rear wheel of the vehicle relative to the front axle refers to the speed of the left rear wheel of the vehicle relative to the front axle of the vehicle. The left rear wheel of the vehicle and the front axle of the vehicle move in the same direction. Therefore, the second speed information of the left rear wheel of the vehicle relative to the front axle is the absolute value of the difference between the front axle speed information and the right rear wheel speed information, that is, the absolute value of the difference between the front axle speed information and the left rear wheel speed information is used to calculate the second speed information V RaLeftWheel =|v`-v4|.

[0086] S404: Determine relative speed information according to the first speed information and the second speed information.

[0087] Afterwards, the relative speed information V of the rear axle of the vehicle relative to the front axle can be calculated using the first speed information and the second speed information. SlipSpd , .

[0088] In an exemplary embodiment, see Figure 5 , step S404, determining the relative speed information according to the first speed information and the second speed information includes step S501 and step S502.

[0089] S501: When at least one of the first speed information and the second speed information is greater than a preset first speed threshold, determine that the relative speed information is a preset relative speed.

[0090] In applications, the anti-lock braking system may fail. In this case, the value of the anti-lock braking system may be inaccurate, that is, abnormal values ​​may appear in the right front wheel speed information v1, the left front wheel speed information v2, the right rear wheel speed information v3 and the left rear wheel speed information v4 detected by the anti-lock braking system, thereby causing the calculated first speed information and / or the second speed information to be greater than the preset first speed threshold. Therefore, when either of the calculated first speed information and the second speed information is greater than the preset first speed threshold, the relative speed information can be directly set to the preset relative speed. For example, the relative speed information can be set to 0.

[0091] There may also be a communication failure between the anti-lock braking system and the vehicle controller. Therefore, when the communication failure between the anti-lock braking system and the vehicle controller occurs, the relative speed information may be directly set to the preset relative speed.

[0092] S502: When the first speed information and the second speed information are both less than or equal to a preset relative speed threshold, determine the relative speed information as the average of the absolute value of the first speed information and the absolute value of the second speed information.

[0093] If the first speed information and the second speed information are both less than or equal to the preset relative speed threshold, it can be determined that the anti-lock braking system is normal, and the relative speed information can be calculated according to the absolute value of the first speed information and the absolute value of the second speed information.

[0094] In an exemplary embodiment, see Figure 6 , step S104, controlling the running state of the vehicle according to the torque control mode, including steps S601 to S604.

[0095] S601: Determine the required motor feedback torque of the vehicle according to the operating status information.

[0096] When limiting the torque of the vehicle, it is first necessary to determine the operating status information to determine the vehicle's required motor feedback torque. In the application, the vehicle's required motor feedback torque can be calculated based on the motor's torque percentage and the vehicle's required torque peak.

[0097] S602: Determine a torque limit coefficient according to the relative speed information.

[0098] In the application, a relationship table between relative speed information and torque limit coefficient can be preset. After the relative speed information is calculated, the torque limit coefficient can be directly determined by looking up the table.

[0099] S603: Determine the target motor feedback torque of the vehicle according to the required motor feedback torque and the torque limit coefficient.

[0100] The target motor feedback torque can be obtained by multiplying the required motor feedback torque and the torque limit coefficient, wherein the torque limit coefficient is between 0 and 1.

[0101] S604: Control the running state of the vehicle according to the torque control mode and the target motor feedback torque.

[0102] After the target motor feedback torque is calculated, the motor can be controlled to output torque according to the target motor feedback torque to control the running state of the vehicle and avoid wheel locking.

[0103] In an exemplary embodiment, see Figure 7 , step S602, determining the torque limit coefficient according to the relative speed information, including step S701 and step S702.

[0104] S701: When the relative speed information is less than or equal to the relative speed threshold, determine the torque limit coefficient to be 1.

[0105] If the relative speed information is less than or equal to the relative speed threshold, indicating that there is no tendency of wheel locking, there is no need to control the motor output torque to reduce, so the torque limit coefficient can be determined to be 1, that is, the motor is controlled to output torque according to the required motor feedback torque.

[0106] S702: When the relative speed information is greater than the relative speed threshold, determine a torque limit coefficient according to the relative speed information and a preset association relationship.

[0107] Among them, the torque limit coefficient is less than 1 and greater than or equal to 0, and the torque limit coefficient is negatively correlated with the relative speed information. The larger the relative speed information, that is, the larger the relative speed information, the higher the tendency of wheel locking, and the lower the feedback torque of the target motor needs to be controlled.

[0108] In an exemplary embodiment, see Figure 8 , step S601, determining the required motor feedback torque of the vehicle according to the operating status information, including steps S801 to S803.

[0109] S801: Determine the torque percentage according to the brake pedal opening.

[0110] In the application, the operating status information also includes the brake pedal opening. By detecting the brake pedal opening, the torque percentage of the vehicle can be determined according to a pre-stored association table between the brake pedal opening and the torque percentage.

[0111] S802: Determine the required peak torque according to the preset vehicle motor model.

[0112] The required peak torque can then be determined based on the motor model.

[0113] S803: Determine the required motor feedback torque according to the required peak torque and the torque percentage.

[0114] The required motor feedback torque can be obtained by multiplying the required peak torque and the torque percentage.

[0115] In a detailed embodiment, during the operation of the vehicle, the anti-lock braking system detects the right front wheel speed information v1, the left front wheel speed information v2, the right rear wheel speed information v3 and the left rear wheel speed information v4 of the vehicle in real time. After receiving the speed information of each wheel, the controller can calculate the first speed information V of the right rear wheel relative to the front axle of the vehicle. RaRightWheel and the second speed information V of the left rear wheel relative to the front axle RaLeftWheel , if the first speed information V RaRightWheel and the second speed information V RaLeftWheel are less than or equal to the first speed threshold, then the first speed information V RaRightWheel and the second speed information V RaLeftWheel Get the relative speed information V of the vehicle's rear axle relative to the front axle SlipSpd , wherein the first speed threshold may be 8 km / h, and the relative speed threshold may be 2 km / h. It may also be determined whether to immediately control the vehicle to enter the anti-lock state based on the vehicle speed information. If the vehicle speed information is greater than or equal to the vehicle speed threshold, the vehicle is immediately controlled to enter the anti-lock state. If the vehicle speed information is less than the vehicle speed threshold, the vehicle is controlled to delay for a period of time before entering the anti-lock state.

[0116] If the relative speed information is less than or equal to the relative speed threshold, the vehicle's torque control mode can be determined to be a non-anti-lock torque limiting mode, and the torque limiting coefficient is set to 1; when the relative speed information is greater than the relative speed threshold, the vehicle's torque control mode is determined to be an anti-lock torque limiting mode, and the torque limiting coefficient k is determined according to the relative speed information, and the torque limiting coefficient is negatively correlated with the relative speed information. For example, the torque limiting coefficient can be determined according to Table 1.

[0117] Table 1 Torque limit coefficient reference table

[0118]

[0119] Finally, the target motor feedback torque of the vehicle can be determined according to the required motor feedback torque and the torque limit coefficient of the vehicle, so as to reduce the output torque of the motor accordingly according to whether the vehicle has a wheel locking tendency and the degree of wheel locking tendency, thereby preventing wheel locking and improving driving safety.

[0120] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0121] Based on the same inventive concept, the embodiment of the present application also provides a vehicle control device for implementing the vehicle control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more vehicle control device embodiments provided below can refer to the limitations on the vehicle control method above, and will not be repeated here.

[0122] In an exemplary embodiment, Fig. 9 As shown, a vehicle control device is provided, which includes: a first acquisition module 901, a first determination module 902, a second determination module 903 and a first execution module 904.

[0123] The first acquisition module 901 is used to acquire the running status information of the vehicle.

[0124] The first determination module 902 is used to determine the relative speed information of the vehicle according to the running state information; the relative speed information is the speed information of the rear axle of the vehicle relative to the front axle.

[0125] The second determination module 903 is used to determine the torque control mode of the vehicle according to the relative speed information.

[0126] The first execution module 904 is used to control the running state of the vehicle according to the torque control mode.

[0127] In an exemplary embodiment, the second determination module 903 includes: a first determination submodule and a second determination submodule.

[0128] The first determination submodule is used to determine that the torque control mode of the vehicle is the anti-lock torque limiting mode when the relative speed information is greater than or equal to a preset relative speed threshold.

[0129] The second determination submodule is used to determine that the torque control mode of the vehicle is a non-anti-lock torque limiting mode when the relative speed information is less than a preset relative speed threshold.

[0130] In an exemplary embodiment, the anti-lock torque limiting mode includes a first anti-lock torque limiting mode and a second anti-lock torque limiting mode; the first determining submodule includes a first determining unit, a second determining unit and a third determining unit.

[0131] The first determining unit is used to determine vehicle speed information of the vehicle according to the running state information.

[0132] The second determination unit is used to determine that the torque control mode of the vehicle is the first anti-lock torque limiting mode when the vehicle speed information is greater than or equal to a preset vehicle speed threshold and the relative speed information is greater than or equal to a preset relative speed threshold.

[0133] The third determination unit is used to determine that the vehicle's torque control mode is a second anti-lock torque limiting mode when the vehicle speed information is less than a preset vehicle speed threshold and the relative speed information is greater than or equal to a preset relative speed threshold; wherein the response time of the second anti-lock torque limiting mode is greater than the response time of the first anti-lock torque limiting mode.

[0134] In an exemplary embodiment, the operating status information includes right front wheel speed information, left front wheel speed information, right rear wheel speed information and left rear wheel speed information; the first determination module 902 includes a third determination submodule, a fourth determination submodule, a fifth determination submodule and a sixth determination submodule.

[0135] The third determining submodule is used to determine the front axle speed information according to the right front wheel speed information and the left front wheel speed information.

[0136] The fourth determining submodule is used to determine first speed information of the right rear wheel of the vehicle relative to the front axle according to the front axle speed information and the right rear wheel speed information.

[0137] The fifth determination submodule is used to determine second speed information of the left rear wheel of the vehicle relative to the front axle according to the front axle speed information and the left rear wheel speed information.

[0138] The sixth determining submodule is used to determine relative speed information according to the first speed information and the second speed information.

[0139] In an exemplary embodiment, the sixth determining submodule includes a fourth determining unit and a fifth determining unit.

[0140] The fourth determining unit is used to determine that the relative speed information is a preset relative speed when at least one of the first speed information and the second speed information is greater than a preset first speed threshold.

[0141] The fifth determining unit is used to determine the relative speed information as the average of the absolute value of the first speed information and the absolute value of the second speed information when both the first speed information and the second speed information are less than or equal to the preset relative speed threshold.

[0142] In an exemplary embodiment, the first execution module 904 includes a seventh determination submodule, an eighth determination submodule, a ninth determination submodule and a first execution submodule.

[0143] The seventh determination submodule is used to determine the required motor feedback torque of the vehicle according to the operating state information.

[0144] The eighth determination submodule is used to determine the torque limit coefficient according to the relative speed information.

[0145] The ninth determination submodule is used to determine the target motor feedback torque of the vehicle according to the required motor feedback torque and the torque limit coefficient.

[0146] The first execution submodule is used to control the running state of the vehicle according to the torque control mode and the target motor feedback torque.

[0147] In an exemplary embodiment, the eighth determining submodule includes:

[0148] The sixth determination unit is configured to determine the torque limit coefficient to be 1 when the relative speed information is less than or equal to the relative speed threshold.

[0149] The seventh determination unit is used to determine the torque limit coefficient according to the relative speed information and a preset association relationship when the relative speed information is greater than the relative speed threshold; wherein the torque limit coefficient is less than 1, and the torque limit coefficient is negatively correlated with the relative speed information.

[0150] In an exemplary embodiment, the operating state information further includes a brake pedal opening; the seventh determining submodule includes: an eighth determining unit, a ninth determining unit and a ninth determining unit.

[0151] The eighth determination unit determines the torque percentage according to the brake pedal opening degree.

[0152] The ninth determination unit determines the required peak torque according to a preset vehicle-mounted motor model.

[0153] The ninth determination unit determines the required motor feedback torque according to the required peak torque and the torque percentage.

[0154] Each module in the above vehicle control device can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0155] In an exemplary embodiment, see Fig.10 The present application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the vehicle control method in any of the above embodiments are implemented.

[0156] The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (NFC) or other technologies. When the computer program is executed by the processor, a vehicle control method is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0157] Those skilled in the art will understand that Fig.10 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0158] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the vehicle control method in any of the above embodiments are implemented.

[0159] In one embodiment, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the steps of the vehicle control method in any one of the above embodiments are implemented.

[0160] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0161] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0162] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0163] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: Obtain vehicle operating status information; Determine the relative speed information of the vehicle according to the running state information; wherein the relative speed information is the speed information of the rear axle of the vehicle relative to the front axle; determining a torque control mode of the vehicle according to the relative speed information; The operating state of the vehicle is controlled according to the torque control mode.

2. The vehicle control method according to claim 1, characterized in that: The determining the torque control mode of the vehicle according to the relative speed information comprises: When the relative speed information is greater than or equal to a preset relative speed threshold, determining that the torque control mode of the vehicle is an anti-lock torque limiting mode; When the relative speed information is less than a preset relative speed threshold, it is determined that the torque control mode of the vehicle is a non-anti-lock torque limiting mode.

3. The vehicle control method according to claim 2, characterized in that: The anti-lock torque limiting mode includes a first anti-lock torque limiting mode and a second anti-lock torque limiting mode; when the relative speed information is greater than or equal to a preset relative speed threshold, determining that the torque control mode of the vehicle is the anti-lock torque limiting mode includes: Determining vehicle speed information of the vehicle according to the operating status information; When the vehicle speed information is greater than or equal to a preset vehicle speed threshold, and the relative speed information is greater than or equal to a preset relative speed threshold, determining that the torque control mode of the vehicle is the first anti-lock torque limiting mode; When the vehicle speed information is less than a preset vehicle speed threshold and the relative speed information is greater than or equal to a preset relative speed threshold, the torque control mode of the vehicle is determined to be the second anti-lock torque limiting mode; wherein a response time of the second anti-lock torque limiting mode is greater than a response time of the first anti-lock torque limiting mode.

4. The vehicle control method according to claim 1, characterized in that: The running state information includes right front wheel speed information, left front wheel speed information, right rear wheel speed information and left rear wheel speed information; and determining the relative speed information of the vehicle according to the running state information includes: Determine front axle speed information according to the right front wheel speed information and the left front wheel speed information; Determine first speed information of the right rear wheel of the vehicle relative to the front axle according to the front axle speed information and the right rear wheel speed information; Determine second speed information of the left rear wheel of the vehicle relative to the front axle according to the front axle speed information and the left rear wheel speed information; The relative speed information is determined according to the first speed information and the second speed information.

5. The vehicle control method according to claim 4, characterized in that: Determining the relative speed information according to the first speed information and the second speed information includes: When at least one of the first speed information and the second speed information is greater than a preset first speed threshold, determining that the relative speed information is a preset relative speed; When the first speed information and the second speed information are both less than or equal to the preset relative speed threshold, the relative speed information is determined to be an average of an absolute value of the first speed information and an absolute value of the second speed information.

6. The vehicle control method according to claims 1-5, characterized in that: The controlling the running state of the vehicle according to the torque control mode includes: Determining a required motor feedback torque of the vehicle according to the operating state information; determining a torque limit coefficient according to the relative speed information; Determining a target motor feedback torque of the vehicle according to the required motor feedback torque and the torque limit coefficient; The running state of the vehicle is controlled according to the torque control mode and the target motor feedback torque.

7. The vehicle control method according to claim 6, characterized in that: Determining the torque limit coefficient according to the relative speed information includes: When the relative speed information is less than or equal to a relative speed threshold, determining the torque limit coefficient to be 1; When the relative speed information is greater than a relative speed threshold, the torque limit coefficient is determined according to the relative speed information and a preset association relationship; wherein the torque limit coefficient is less than 1, and the torque limit coefficient is negatively correlated with the relative speed information.

8. The vehicle control method according to claim 6, characterized in that: The operating state information also includes a brake pedal opening; and determining the required motor feedback torque of the vehicle according to the operating state information includes: determining a torque percentage according to the brake pedal opening; Determine the required peak torque according to the preset vehicle motor model; The required motor feedback torque is determined according to the required peak torque and the torque percentage.

9. A vehicle control device, characterized in that: The device comprises: A first acquisition module is used to acquire the running status information of the vehicle; A first determination module, configured to determine relative speed information of the vehicle according to the running state information; wherein the relative speed information is speed information of a rear axle of the vehicle relative to a front axle; A second determination module, configured to determine a torque control mode of the vehicle according to the relative speed information; The first execution module is used to control the running state of the vehicle according to the torque control mode.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

Images